OpenRaiser/Intern-Atlas huggingface dataset:
Beyond Motion Cues and Structural Sparsity: Revisiting Small Moving Target Detection
Venue: arXiv cs.CV 2025
Year: 2025

Small moving target detection is crucial for many defense applications but remains highly challenging due to low signal-to-noise ratios, ambiguous visual cues, and cluttered backgrounds. In this work, we propose a novel deep learning framework that differs fundamentally from existing approaches, which often rely on target-specific features or motion cues and tend to lack robustness in complex environments. Our key insight is that small target detection and background discrimination are inherently coupled, even cluttered video backgrounds often exhibit strong low-rank structures that can serve as stable priors for detection. We reformulate the task as a tensor-based low-rank and sparse decomposition problem and conduct a theoretical analysis of the background, target, and noise components to guide model design. Building on these insights, we introduce TenRPCANet, a deep neural network that requires minimal assumptions about target characteristics. Specifically, we propose a tokenization strategy that implicitly enforces multi-order tensor low-rank priors through a self-attention mechanism. This mechanism captures both local and non-local self-similarity to model the low-rank background without relying on explicit iterative optimization. In addition, inspired by the sparse component update in tensor RPCA, we design a feature refinement module to enhance target saliency. The proposed method achieves state-of-the-art performance on two highly distinct and challenging tasks: multi-frame infrared small target detection and space object detection. These results demonstrate both the effectiveness and the generalizability of our approach.
Collaborative Exploration with a Marsupial Ground-Aerial Robot Team through Task-Driven Map Compression
Venue: arXiv cs.RO 2025
Year: 2025

Efficient exploration of unknown environments is crucial for autonomous robots, especially in confined and large-scale scenarios with limited communication. To address this challenge, we propose a collaborative exploration framework for a marsupial ground-aerial robot team that leverages the complementary capabilities of both platforms. The framework employs a graph-based path planning algorithm to guide exploration and deploy the aerial robot in areas where its expected gain significantly exceeds that of the ground robot, such as large open spaces or regions inaccessible to the ground platform, thereby maximizing coverage and efficiency. To facilitate large-scale spatial information sharing, we introduce a bandwidth-efficient, task-driven map compression strategy. This method enables each robot to reconstruct resolution-specific volumetric maps while preserving exploration-critical details, even at high compression rates. By selectively compressing and sharing key data, communication overhead is minimized, ensuring effective map integration for collaborative path planning. Simulation and real-world experiments validate the proposed approach, demonstrating its effectiveness in improving exploration efficiency while significantly reducing data transmission.
Temporal Counterfactual Explanations of Behaviour Tree Decisions
Venue: arXiv cs.RO 2025
Year: 2025

Explainability is a critical tool in helping stakeholders understand robots. In particular, the ability for robots to explain why they have made a particular decision or behaved in a certain way is useful in this regard. Behaviour trees are a popular framework for controlling the decision-making of robots and other software systems, and thus a natural question to ask is whether or not a system driven by a behaviour tree is capable of answering "why" questions. While explainability for behaviour trees has seen some prior attention, no existing methods are capable of generating causal, counterfactual explanations which detail the reasons for robot decisions and behaviour. Therefore, in this work, we introduce a novel approach which automatically generates counterfactual explanations in response to contrastive "why" questions. Our method achieves this by first automatically building a causal model from the structure of the behaviour tree as well as domain knowledge about the state and individual behaviour tree nodes. The resultant causal model is then queried and searched to find a set of diverse counterfactual explanations. We demonstrate that our approach is able to correctly explain the behaviour of a wide range of behaviour tree structures and states. By being able to answer a wide range of causal queries, our approach represents a step towards more transparent, understandable and ultimately trustworthy robotic systems.
SEEC: Segmentation-Assisted Multi-Entropy Models for Learned Lossless Image Compression
Venue: arXiv cs.CV 2025
Year: 2025

Recently, learned image compression has attracted considerable attention due to its superior performance over traditional methods. However, most existing approaches employ a single entropy model to estimate the probability distribution of pixel values across the entire image, which limits their ability to capture the diverse statistical characteristics of different semantic regions. To overcome this limitation, we propose Segmentation-Assisted Multi-Entropy Models for Lossless Image Compression (SEEC). Our framework utilizes semantic segmentation to guide the selection and adaptation of multiple entropy models, enabling more accurate probability distribution estimation for distinct semantic regions. Specifically, SEEC first extracts image features and then applies semantic segmentation to identify different regions, each assigned a specialized entropy model to better capture its unique statistical properties. Finally, a multi-channel discrete logistic mixture likelihood is employed to model the pixel value distributions effectively. Experimental results on benchmark datasets demonstrate that SEEC achieves state-of-the-art compression ratios while introducing only minimal encoding and decoding latency. With superior performance, the proposed model also supports Regions of Interest (ROIs) coding condition on the provided segmentation mask. Our code is available at https://github.com/chunbaobao/SEEC.
Fault Tolerant Control of a Quadcopter using Reinforcement Learning
Venue: arXiv cs.RO 2025
Year: 2025

This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical need of a robust control strategy for maintaining a desired altitude for the quadcopter to safe the hardware and the payload in physical applications. The proposed framework investigates two RL methodologies Dynamic Programming (DP) and Deep Deterministic Policy Gradient (DDPG), to overcome the challenges posed by the rotor failure mechanism of the quadcopter. DP, a model-based approach, is leveraged for its convergence guarantees, despite high computational demands, whereas DDPG, a model-free technique, facilitates rapid computation but with constraints on solution duration. The research challenge arises from training RL algorithms on large dimensions and action domains. With modifications to the existing DP and DDPG algorithms, the controllers were trained not only to cater for large continuous state and action domain and also achieve a desired state after an inflight propeller failure. To verify the robustness of the proposed control framework, extensive simulations were conducted in a MATLAB environment across various initial conditions and underscoring its viability for mission-critical quadcopter applications. A comparative analysis was performed between both RL algorithms and their potential for applications in faulty aerial systems.
RIMO: An Easy-to-Evaluate, Hard-to-Solve Olympiad Benchmark for Advanced Mathematical Reasoning
Venue: arXiv cs.AI 2025
Year: 2025

As large language models (LLMs) reach high scores on established mathematical benchmarks, such as GSM8K and MATH, the research community has turned to International Mathematical Olympiad (IMO) problems to push the evaluation frontier. However, existing Olympiad-level benchmarks suffer from practical constraints that introduce grading noise and potential bias, such as heterogeneous answer formats requiring model-based judges and a reliance on potentially flawed solutions. We introduce RIMO, a two-track benchmark designed to preserve peak Olympiad difficulty while eliminating this evaluation noise. The first track, RIMO-N, rewrites 335 IMO problems to admit a single, unique integer answer, allowing for deterministic correctness checking. The second track, RIMO-P, features 456 proof problems with expert-checked solutions, which are decomposed into a sequence of sub-problems to evaluate the step-by-step reasoning process via an automated grading system. Our benchmarking of ten frontier LLMs, including GPT-4o and Gemini 2.5 Flash, reveals that while these systems excel on older benchmarks, their performance drops sharply on RIMO. These results highlight a substantial gap between current LLM capabilities and actual Olympiad-level reasoning. By providing a challenging yet easy-to-evaluate suite, RIMO offers a high-resolution yardstick for future research, presenting a clear target for closing the profound reasoning gap our findings expose.
Proximity Graphs for Similarity Search: Fast Construction, Lower Bounds, and Euclidean Separation
Venue: arXiv cs.DS 2025
Year: 2025

Proximity graph-based methods have emerged as a leading paradigm for approximate nearest neighbor (ANN) search in the system community. This paper presents fresh insights into the theoretical foundation of these methods. We describe an algorithm to build a proximity graph for $(1+ε)$-ANN search that has $O((1/ε)^λ\cdot n \log Δ)$ edges and guarantees $(1/ε)^λ\cdot \text{polylog }Δ$ query time. Here, $n$ and $Δ$ are the size and aspect ratio of the data input, respectively, and $λ= O(1)$ is the doubling dimension of the underlying metric space. Our construction time is near-linear to $n$, improving the $Ω(n^2)$ bounds of all previous constructions. We complement our algorithm with lower bounds revealing an inherent limitation of proximity graphs: the number of edges needs to be at least $Ω((1/ε)^λ\cdot n + n \log Δ)$ in the worst case, up to a subpolynomial factor. The hard inputs used in our lower-bound arguments are non-geometric, thus prompting the question of whether improvement is possible in the Euclidean space (a key subclass of metric spaces). We provide an affirmative answer by using geometry to reduce the graph size to $O((1/ε)^λ\cdot n)$ while preserving nearly the same query and construction time.
Factuality Beyond Coherence: Evaluating LLM Watermarking Methods for Medical Texts
Venue: arXiv cs.CL 2025
Year: 2025

As large language models (LLMs) are adapted to sensitive domains such as medicine, their fluency raises safety risks, particularly regarding provenance and accountability. Watermarking embeds detectable patterns to mitigate these risks, yet its reliability in medical contexts remains untested. Existing benchmarks focus on detection-quality tradeoffs and overlook factual risks. In medical text, watermarking often reweights low-entropy tokens, which are highly predictable and often carry critical medical terminology. Shifting these tokens can cause inaccuracy and hallucinations, risks that prior general-domain benchmarks fail to capture. We propose a medical-focused evaluation workflow that jointly assesses factual accuracy and coherence. Using GPT-Judger and further human validation, we introduce the Factuality-Weighted Score (FWS), a composite metric prioritizing factual accuracy beyond coherence to guide watermarking deployment in medical domains. Our evaluation shows current watermarking methods substantially compromise medical factuality, with entropy shifts degrading medical entity representation. These findings underscore the need for domain-aware watermarking approaches that preserve the integrity of medical content.
Spectral and Rhythm Feature Performance Evaluation for Category and Class Level Audio Classification with Deep Convolutional Neural Networks
Venue: arXiv cs.SD 2025
Year: 2025

Next to decision tree and k-nearest neighbours algorithms deep convolutional neural networks (CNNs) are widely used to classify audio data in many domains like music, speech or environmental sounds. To train a specific CNN various spectral and rhythm features like mel-scaled spectrograms, mel-frequency cepstral coefficients (MFCC), cyclic tempograms, short-time Fourier transform (STFT) chromagrams, constant-Q transform (CQT) chromagrams and chroma energy normalized statistics (CENS) chromagrams can be used as digital image input data for the neural network. The performance of these spectral and rhythm features for audio category level as well as audio class level classification is investigated in detail with a deep CNN and the ESC-50 dataset with 2,000 labeled environmental audio recordings using an end-to-end deep learning pipeline. The evaluated metrics accuracy, precision, recall and F1 score for multiclass classification clearly show that the mel-scaled spectrograms and the mel-frequency cepstral coefficients (MFCC) perform significantly better then the other spectral and rhythm features investigated in this research for audio classification tasks using deep CNNs.
XSRD-Net: EXplainable Stroke Relapse Detection
Venue: arXiv cs.CV 2025
Year: 2025

Stroke is the second most frequent cause of death world wide with an annual mortality of around 5.5 million. Recurrence rates of stroke are between 5 and 25% in the first year. As mortality rates for relapses are extraordinarily high (40%) it is of utmost importance to reduce the recurrence rates. We address this issue by detecting patients at risk of stroke recurrence at an early stage in order to enable appropriate therapy planning. To this end we collected 3D intracranial CTA image data and recorded concomitant heart diseases, the age and the gender of stroke patients between 2010 and 2024. We trained single- and multimodal deep learning based neural networks for binary relapse detection (Task 1) and for relapse free survival (RFS) time prediction together with a subsequent classification (Task 2). The separation of relapse from non-relapse patients (Task 1) could be solved with tabular data (AUC on test dataset: 0.84). However, for the main task, the regression (Task 2), our multimodal XSRD-net processed the modalities vision:tabular with 0.68:0.32 according to modality contribution measures. The c-index with respect to relapses for the multimodal model reached 0.68, and the AUC is 0.71 for the test dataset. Final, deeper interpretability analysis results could highlight a link between both heart diseases (tabular) and carotid arteries (vision) for the detection of relapses and the prediction of the RFS time. This is a central outcome that we strive to strengthen with ongoing data collection and model retraining.
LLMs in Wikipedia: Investigating How LLMs Impact Participation in Knowledge Communities
Venue: arXiv cs.HC 2025
Year: 2025

Large language models (LLMs) are reshaping knowledge production as community members increasingly incorporate them into their contribution workflows. However, participating in knowledge communities involves more than just contributing content - it is also a deeply social process. While communities must carefully consider appropriate and responsible LLM integration, the absence of concrete norms has left individual editors to experiment and navigate LLM use on their own. Understanding how LLMs influence community participation is therefore critical in shaping future norms and supporting effective adoption. To address this gap, we investigated Wikipedia, one of the largest knowledge production communities, to understand 1) how LLMs influence the ways editors contribute content, 2) what strategies editors leverage to align LLM outputs with community norms, and 3) how other editors in the community respond to LLM-assisted contributions. Through interviews with 16 Wikipedia editors who had used LLMs for their edits, we found that 1) LLMs affected the content contributions for experienced and new editors differently; 2) aligning LLM outputs with community norms required tacit knowledge that often challenged newcomers; and 3) as a result, other editors responded to LLM-assisted edits differently depending on the editors' expertise level. Based on these findings, we challenge existing models of newcomer involvement and propose design implications for LLMs that support community engagement through scaffolding, teaching, and context awareness.
Deep Learning-Based Burned Area Mapping Using Bi-Temporal Siamese Networks and AlphaEarth Foundation Datasets
Venue: arXiv cs.CV 2025
Year: 2025

Accurate and timely mapping of burned areas is crucial for environmental monitoring, disaster management, and assessment of climate change. This study presents a novel approach to automated burned area mapping using the AlphaEArth dataset combined with the Siamese U-Net deep learning architecture. The AlphaEArth Dataset, comprising high-resolution optical and thermal infrared imagery with comprehensive ground-truth annotations, provides an unprecedented resource for training robust burned area detection models. We trained our model with the Monitoring Trends in Burn Severity (MTBS) dataset in the contiguous US and evaluated it with 17 regions cross in Europe. Our experimental results demonstrate that the proposed ensemble approach achieves superior performance with an overall accuracy of 95%, IoU of 0.6, and F1-score of 74% on the test dataset. The model successfully identifies burned areas across diverse ecosystems with complex background, showing particular strength in detecting partially burned vegetation and fire boundaries and its transferability and high generalization in burned area mapping. This research contributes to the advancement of automated fire damage assessment and provides a scalable solution for global burn area monitoring using the AlphaEarth dataset.
Verification power of rational-valued automata with deterministic and affine states
Venue: arXiv cs.FL 2025
Year: 2025

Previous research has shown that two-way automata with deterministic and affine states have strong verification capabilities, and that this power persists when all transition matrices are restricted to rational values. We investigate rational-valued affine automata as verifiers in Arthur--Merlin proof systems. For one-way verifiers, we give protocols with perfect completeness for two nonregular languages. For two-way verifiers, we first describe a weak protocol that verifies every Turing-recognizable language. We then strengthen this construction with a probabilistic continuation check to obtain strong verification with bounded error, establishing that every language decidable in deterministic exponential space is verifiable in Arthur--Merlin systems by rational-valued two-way affine automata. In a complementary, reduction-based route, we present a Knapsack-game verifier with perfect completeness, which implies that every language in PSPACE admits Arthur--Merlin verification by two-way affine automata with rational transitions. Taken together, these results illuminate the verification power of two-way affine automata while keeping arithmetic fully rational.
KLIPA: A Knowledge Graph and LLM-Driven QA Framework for IP Analysis
Venue: arXiv cs.IR 2025
Year: 2025

Effectively managing intellectual property is a significant challenge. Traditional methods for patent analysis depend on labor-intensive manual searches and rigid keyword matching. These approaches are often inefficient and struggle to reveal the complex relationships hidden within large patent datasets, hindering strategic decision-making. To overcome these limitations, we introduce KLIPA, a novel framework that leverages a knowledge graph and a large language model (LLM) to significantly advance patent analysis. Our approach integrates three key components: a structured knowledge graph to map explicit relationships between patents, a retrieval-augmented generation(RAG) system to uncover contextual connections, and an intelligent agent that dynamically determines the optimal strategy for resolving user queries. We validated KLIPA on a comprehensive, real-world patent database, where it demonstrated substantial improvements in knowledge extraction, discovery of novel connections, and overall operational efficiency. This combination of technologies enhances retrieval accuracy, reduces reliance on domain experts, and provides a scalable, automated solution for any organization managing intellectual property, including technology corporations and legal firms, allowing them to better navigate the complexities of strategic innovation and competitive intelligence.
Programmable Locking Cells (PLC) for Modular Robots with High Stiffness Tunability and Morphological Adaptability
Venue: arXiv cs.RO 2025
Year: 2025

Robotic systems operating in unstructured environments require the ability to switch between compliant and rigid states to perform diverse tasks such as adaptive grasping, high-force manipulation, shape holding, and navigation in constrained spaces, among others. However, many existing variable stiffness solutions rely on complex actuation schemes, continuous input power, or monolithic designs, limiting their modularity and scalability. This paper presents the Programmable Locking Cell (PLC)-a modular, tendon-driven unit that achieves discrete stiffness modulation through mechanically interlocked joints actuated by cable tension. Each unit transitions between compliant and firm states via structural engagement, and the assembled system exhibits high stiffness variation-up to 950% per unit-without susceptibility to damage under high payload in the firm state. Multiple PLC units can be assembled into reconfigurable robotic structures with spatially programmable stiffness. We validate the design through two functional prototypes: (1) a variable-stiffness gripper capable of adaptive grasping, firm holding, and in-hand manipulation; and (2) a pipe-traversing robot composed of serial PLC units that achieves shape adaptability and stiffness control in confined environments. These results demonstrate the PLC as a scalable, structure-centric mechanism for programmable stiffness and motion, enabling robotic systems with reconfigurable morphology and task-adaptive interaction.
Smart Fast Finish: Preventing Overdelivery via Daily Budget Pacing at DoorDash
Venue: arXiv cs.GT 2025
Year: 2025

We present a budget pacing feature called Smart Fast Finish (SFF). SFF builds upon the industry standard Fast Finish (FF) feature in budget pacing systems that depletes remaining advertising budget as quickly as possible towards the end of some fixed time period. SFF dynamically updates system parameters such as start time and throttle rate depending on historical ad-campaign data. SFF is currently in use at DoorDash, one of the largest delivery platforms in the US, and is part of its budget pacing system. We show via online budget-split experimentation data and offline simulations that SFF is a robust solution for overdelivery mitigation when pacing budget.